CN106524952B - 3D wheel alignment instrument of monocular camera - Google Patents
3D wheel alignment instrument of monocular cameraDownload PDFInfo
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- CN106524952B CN106524952BCN201611199295.5ACN201611199295ACN106524952BCN 106524952 BCN106524952 BCN 106524952BCN 201611199295 ACN201611199295 ACN 201611199295ACN 106524952 BCN106524952 BCN 106524952B
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- 239000000758substrateSubstances0.000claimsdescription13
- 239000003292glueSubstances0.000claimsdescription5
- 239000000853adhesiveSubstances0.000claimsdescription4
- 230000001070adhesive effectEffects0.000claimsdescription4
- 238000005259measurementMethods0.000abstractdescription5
- 239000010410layerSubstances0.000description46
- 239000012790adhesive layerSubstances0.000description3
- 238000004364calculation methodMethods0.000description3
- 230000000007visual effectEffects0.000description3
- 230000005540biological transmissionEffects0.000description2
- 239000011248coating agentSubstances0.000description2
- 238000000576coating methodMethods0.000description2
- 238000010586diagramMethods0.000description2
- 230000035939shockEffects0.000description2
- 239000000725suspensionSubstances0.000description2
- 230000007547defectEffects0.000description1
- 238000012423maintenanceMethods0.000description1
- 238000013178mathematical modelMethods0.000description1
- 230000007935neutral effectEffects0.000description1
- 230000003287optical effectEffects0.000description1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
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- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Technical Field
The invention relates to the technical field of automobile maintenance, in particular to a monocular camera 3D wheel positioning instrument.
Background
The wheel alignment instrument is a precision measuring instrument for detecting the wheel alignment parameters of the automobile, comparing the wheel alignment parameters with the original factory design parameters, and guiding a user to correspondingly adjust the wheel alignment parameters to make the wheel alignment parameters meet the original design requirements so as to achieve ideal automobile driving performance, i.e. light operation, stable and reliable driving and reduction of tire partial wear.
The automobile four-wheel aligner in the current market is divided into a toe-in ruler, an optical level aligner, a stay wire aligner, a CCD aligner, a laser aligner, a 3D aligner and the like, wherein the 3D aligner is the most advanced four-wheel aligner at present. The measuring principle of the 3D locator is that four target targets are installed on four rims of a vehicle, wheels are rolled, geometric figures on the target targets are continuously shot by a camera, changes of the geometric figures are analyzed and calculated through computer software, corresponding positioning parameters of the wheels, a chassis and the like are obtained, and then the corresponding positioning parameters are displayed through a display screen.
The existing 3D locator needs two or even a plurality of cameras to capture images of tires respectively, which requires that the cameras be periodically calibrated (RCP) to determine the consistency of coordinate systems of all the cameras and ensure the reliability of location. Moreover, if a camera fails, it needs to be replaced or repaired, and if the camera position changes, the position calibration must be performed again. However, the position calibration of the camera is a technical-intensive task and requires a special calibration stand to do so. Calibration inaccuracy is prone to occur to non-professional technicians, so that professional technicians are required to go to the site for calibration, and manufacturers or distributors are required to post calibration frames to the site, which increases cost and is very troublesome.
Disclosure of Invention
The invention aims to solve the technical problem that the existing 3D wheel aligner uses more than 2 cameras to shoot, so that the problem of troublesome position calibration exists, and provides a monocular camera 3D wheel aligner.
In order to solve the problems, the invention is realized by the following technical scheme:
the monocular camera 3D wheel positioning instrument comprises a lifter, a target, a wide-angle camera, a computer and a camera rack holder component; the automobile to be positioned is positioned on the lifting machine, and the lifting machine drives the automobile to be positioned to do lifting motion; the lifting machine is attached to a chassis of the automobile to be positioned, and wheels of the automobile to be positioned are suspended at two sides of the lifting machine; the number of the target targets is the same as that of wheels of the automobile to be positioned, the target targets are respectively arranged on wheel hubs of the automobile to be positioned, and a central shaft of each target and an axle are on the same straight line; the camera stand holder assembly comprises a fixed base and a rotating holder; the fixed base is fixed under the lifter, and the rotating holder is arranged on the fixed base; the number of the wide-angle cameras is 1, the wide-angle cameras are arranged on a rotating holder of a camera stand holder component, and lenses of the wide-angle cameras are upward; the rotating holder drives the shooting center of the wide-angle camera lens to be in 5 directions of positive middle, left-leaning, right-leaning, forward-leaning and backward-leaning; the computer is connected with the wide-angle camera.
In the above scheme, the lifter is a single-column lifter, a two-column lifter or a small shear lifter.
In the above scheme, the target is square.
In the above embodiment, the target has a specification of 50mm × 50mm to 130mm × 130 mm.
In the above scheme, the view field lens angle of the wide-angle camera is between 30 ° and 60 °.
In the above scheme, the vertical distance from the target to the wide-angle camera is equal to the lifting height of the lifter.
In the above scheme, the computer is connected with the wide-angle camera in a wired or wireless manner.
In the scheme, the target comprises a substrate, a target surface pattern layer and a reflecting layer; the target surface pattern layer comprises a front target surface pattern layer printed on the surface of the substrate and a rear target surface pattern layer printed on the back surface of the substrate; the shape of the front target surface pattern layer is consistent with that of the rear target surface pattern layer, the front target surface pattern layer and the rear target surface pattern layer are in mirror symmetry with respect to the substrate, and the circle center of the light transmission hole in the rear target surface pattern layer is overlapped with the circle center of the corresponding light transmission hole in the front target surface pattern layer; a reflective layer is applied behind the rear target surface pattern layer.
In the scheme, an adhesive printing layer is arranged between the rear target surface pattern layer and the reflecting layer, and the shape of the adhesive printing layer is consistent with that of the rear target surface pattern layer; the circle center of the light hole on the glue printing layer is overlapped with the circle center of the light hole on the rear target surface pattern layer.
Compared with the prior art, the invention has the following characteristics:
1. the wide-angle camera with the vision field larger than 30 degrees is selected, and the rotating holder is installed to control the rotatable angle of the wide-angle camera, so that images of 4 target targets can be captured through the vision field widening and the auxiliary action of the holder under the premise that the position of the base is unchanged;
2. the images of all target targets can be captured only by using a single wide-angle camera, the images acquired by the wide-angle camera can be directly used for calculation after being processed, and calculation is not required after position calibration, compared with more than 2 wide-angle cameras, the position relation of a plurality of wide-angle cameras does not need to be confirmed again, and the machine measurement accuracy deviation fault caused by inaccurate calibration is avoided;
3. because the distance between the wide-angle camera and the target is shortened, the target with smaller specification can be designed;
4. the lifting machine lifts the automobile to be positioned to a certain height, and the wide-angle camera is positioned below the lifting machine, so that the wide-angle camera takes a picture of a target fastened on the tire from the bottom of the automobile body and is used as a basis for calculation, and the influence of the lifting machine or the influence of uneven ground, different air pressures of the tires of the automobile, collision deformation of the automobile body and the like on the measurement of parameters of the tire are avoided;
5. the lifting machine is attached to the chassis of the automobile to be positioned, and the wheels of the automobile to be positioned are arranged on two sides of the lifting machine in a suspension mode, so that the wheels can be shot and measured only by rotating the tires when the automobile body is lifted in a suspension state, and the trolley measurement is not needed.
Drawings
FIG. 1 is a schematic diagram of a monocular camera 3D wheel aligner; in fig. 1, a wide-angle camera; 2. rotating the holder; 3. a fixed base; 4. a target; 5. a computer; 6. a wire; 7. a lifting machine.
FIG. 2 is a side view of a target of interest; in fig. 2, 21, a substrate; 22. a front target surface pattern layer; 23. a rear target surface pattern layer; 24. printing an adhesive layer; 25. and a reflective layer.
FIG. 3 is a schematic view of a camera rotation; wherein (a) is a top view; (b) is a front view; (c) is a left view.
Fig. 4 is a schematic view of the shooting principle of a wide-angle camera.
Detailed Description
The invention is illustrated in detail below by way of a specific example:
a monocular camera 3D wheel alignment instrument is shown in figure 1 and comprises a lifter 7, atarget 4, a camera frame holder component, a wide-angle camera 1 and acomputer 5.
The automobile to be positioned is positioned on the lifting machine 7, and the lifting machine 7 drives the automobile to be positioned to do lifting motion. The lifting machine 7 is attached to the chassis of the automobile to be positioned, and wheels of the automobile to be positioned are arranged on two sides of the lifting machine 7 in a hanging mode. Therefore, the vehicle wheel can be in a suspended state, the vehicle body can be shot and measured only by rotating the tire when being lifted, and the vehicle body does not need to be pushed for measurement. The lift 7 is a lift 7 known in the art, such as a single-column lift 7, a two-column lift 7, or a small shear lift 7.
The number of thetarget targets 4 is the same as that of wheels of the automobile to be positioned, thetarget targets 4 are respectively arranged on wheel hubs of the automobile to be positioned, and the central shaft of thetarget 4 and an axle are on the same straight line. Thetarget 4 may be atarget 4 known in the art, or a specially designedtarget 4 may be used. In the preferred embodiment of the present invention, thetarget 4 used is a specially designedtarget 4, and as shown in fig. 2, thetarget 4 includes asubstrate 21, a target surface pattern layer, anadhesive layer 24, and areflective layer 25. The target pattern layers include a fronttarget pattern layer 22 and a reartarget pattern layer 23. The fronttarget pattern layer 22 is printed on the surface of thesubstrate 21, the reartarget pattern layer 23 is printed on the rear surface of thesubstrate 21, and the fronttarget pattern layer 22 and the reartarget pattern layer 23 are mirror-symmetrical with respect to thesubstrate 21. Thereflective layer 25 is positioned behind the reartarget pattern layer 23, and the reartarget pattern layer 23 and thereflective layer 25 are attached together by theadhesive layer 24. The front targetsurface pattern layer 22, the rear targetsurface pattern layer 23 and theprint glue layer 24 are formed by a light-shielding coating and light-transmitting holes formed in the light-shielding coating. The shapes of the front targetsurface pattern layer 22, the rear targetsurface pattern layer 23 and theglue printing layer 24 are consistent, namely N light holes are formed in the front targetsurface pattern layer 22, the rear targetsurface pattern layer 23 and theglue printing layer 24, the positions and the shapes of the light holes formed in the layers correspond to one another one by one, and the circle centers of the light holes are overlapped. Thetarget 4 of above-mentioned structure is higher fortraditional target 4, and the discernment precision to can effectively reducetarget 4's size, and thetarget 4 of small-size specification can let wide angle camera 1 catch clear image in a shorter distance and less visual field angle again. The overall shape of thetarget 4 can be set as desired, and can be circular or square, for example. In the preferred embodiment of the present invention, thetarget 4 is a square having a size of 50mm × 50mm to 130mm × 130 mm.
Different from the traditional 3D wheel alignment instrument which needs to use more than 2 cameras, the invention uses the wide-angle cameras 1, the number of the wide-angle cameras 1 is only 1, and the monocular wide-angle cameras 1 are adopted to overcome the defect that more than 2 cameras need to be subjected to RCP position calibration, thereby greatly reducing the after-sale service cost. The monocular wide-angle camera 1 is placed on the ground to detect the wheels. In general, the field of view of the wide-angle camera 1 is limited, such as maximum left and right viewing angles, maximum up and down (pitch angle), too close to each other or too far from each other, so that the monocular wide-angle camera 1 cannot obtain a clear and stable image. Therefore, the view field lens angle of the wide-angle camera 1 adopted by the invention is between 30 and 60 degrees, thereby realizing the purpose of shooting 4 target images in a short distance by the monocular wide-angle camera 1. Considering that the lens shock parameters within 45 degrees are relatively stable, and the lens shock parameters exceeding 45 degrees are difficult to calibrate, in the preferred embodiment of the invention, the view field lens angle of the wide-angle camera 1 is 45 degrees.
The four-wheel positioning of the monocular wide-angle camera 1 is still difficult to realize by simply using the wide-angle camera 1 with a large visual angle, and therefore, the wide-angle camera 1 is required to be installed on a camera frame holder component, and the camera frame holder component drives the wide-angle camera 1 to face different directions, so as to obtain a larger visual range. In the present invention, the camera stand pan-tilt assembly includes a fixedbase 3 and arotating pan-tilt 2. The fixedbase 3 is fixed on the ground right below the lift 7. Therotating holder 2 is connected with the fixedbase 3. The wide-angle camera 1 is mounted on the rotating pan/tilt head 2 with the camera lens facing upward.
The structure of therotating tripod head 2 has no specific requirement, and the existingrotating tripod head 2 on the market can be directly used as long as the wide-angle camera 1 can be driven to rotate to a corresponding angle. The wide-angle camera 1 is driven to face 5 directions of center, left inclination, right inclination, forward inclination and backward inclination by rotating thepan-tilt 2, so that images of all tires can be obtained. Wherein, the center is that the shooting central axis of the camera lens is vertical to the ground and forms an angle of 90 degrees with the ground. The left inclination means that the shooting central axis of the camera lens inclines leftwards and forms an included angle smaller than 90 degrees with the ground. The right inclination means that the shooting central axis of the camera lens is inclined to the right and forms an included angle smaller than 90 degrees with the ground. The forward inclination means that the shooting central axis of the camera lens is inclined forward and forms an included angle smaller than 90 degrees with the ground. The backward tilting means that the shooting central axis of the camera lens is tilted backward and forms an included angle smaller than 90 degrees with the ground. See fig. 3 for a camera rotation diagram; wherein (a) is a top view; (b) is a front view; (c) is a left view. In order to obtain images of fourtarget targets 4, in the preferred embodiment of the present invention, the angles of left tilt, right tilt, forward tilt and backward tilt are 22.5 °, and the angles of the central axis of the camera lens with respect to the ground are 67.5 ° when the camera is tilted left, right, forward tilt and backward tilt.
The following explains the principle of the monocular wide-angle camera 1 in achieving wheel alignment:
in fig. 4, point O represents a camera position, and point a represents a camera facing position; point B represents the center point position of theleft target 4, point C represents the center point position of theright target 4, point W represents the distance between the center points of the left andright targets 4, point H represents the height of the camera from the lift 7, and point θ represents 1/2 which is the angle of view of the camera when it is perpendicular to the ground.
tg θ is W/2 ÷ H, then: w is 2 × tg θ H.
When the wide-angle camera 1 is in the neutral gear: theta0＝45/2＝22.5°；
When the wide-angle camera 1 is in the left-side shift position (lens rotated leftward by 22.5 °), θLeft side of＝45°；
When the wide-angle camera 1 is in the right-side shift position (lens rotated 22.5 ° to the right), θRight side＝45°。
Taking a two-column lifter 7 as an example, the operation height of the lifter 7 is 1.2 m-1.5 m, the distance between an axle and the ground is about 0.5 m, the diameter range of a tire is 60 cm-80 cm, and the radius is 0.3 m-0.4 m. Since thetarget 4 is a four-point jig clamped to the wheel hub, and the center axis of thetarget 4 theoretically coincides with the axle, it can be basically considered that the distance from thetarget 4 to the base plane of the wide-angle camera 1 is approximately equal to the height from the horizontal plane of the wide-angle camera 1 to the lift 7.
Thus, Hmin＝1.2m，Hmax1.5m, according to the above formula: wmin＝2.4m，Wmax＝3m。
The track width of the passenger car is generally 1.5m to 1.7m, so that the left and right target targets 4 are within the visible range of the wide-angle camera 1 after shifting.
For the trolley with the wheelbase less than 3 meters, only left and right gears are needed. The lens of the wide-angle camera 1 is adjusted to the left gear first, and images of the left front wheel and the left rear wheel are shot. On the premise that the base is not changed, the lens of the wide-angle camera 1 is adjusted to the right gear, and images of the front wheel and the rear wheel on the right are shot.
For vehicles with wheelbases larger than 3 meters, front and rear gears are needed besides left and right gears. The lens of the wide-angle camera 1 is adjusted to the front gear, and images of the left front wheel and the right front wheel are shot according to the steps. On the premise that the base is fixed, the lens of the wide-angle camera 1 is adjusted to a rear gear, and images of the left rear wheel and the right rear wheel are shot according to the steps.
Thecomputer 5 is connected to the wide-angle camera 1 in a wireless or wired manner. In the preferred embodiment of the present invention, thecomputer 5 is connected to the wide-angle camera 1 through awire 6, i.e., a USB cable, and a power cord. Thecomputer 5 is the same as thecomputer 5 of the existing 3D wheel aligner and is equipped with software to perform a wheel alignment algorithm. The wheel alignment algorithm directly calculates the image-processed data of thetarget 4 on all the wheels, and obtains and displays the corresponding alignment parameters of the wheels, the chassis and the like through establishing a mathematical model.
Claims (8)
1. Monocular camera 3D wheel alignment appearance, its characterized in that: comprises a lifter (7), a target (4), a wide-angle camera (1), a computer (5) and a camera rack holder component;
the automobile to be positioned is positioned on the lifting machine (7), and the lifting machine (7) drives the automobile to be positioned to do lifting motion; the lifting machine (7) is attached to the chassis of the automobile to be positioned, and wheels of the automobile to be positioned are suspended at two sides of the lifting machine (7);
the number of the target targets (4) is the same as that of wheels of the automobile to be positioned, the target targets (4) are respectively arranged on wheel hubs of the automobile to be positioned, and a central shaft of each target (4) is on the same straight line with an axle; the target (4) comprises a substrate (21), a target surface pattern layer and a reflecting layer (25); the target surface pattern layer comprises a front target surface pattern layer (22) printed on the front surface of the substrate (21) and a rear target surface pattern layer (23) printed on the back surface of the substrate (21); the shape of the front target surface pattern layer (22) is consistent with that of the rear target surface pattern layer (23), the front target surface pattern layer (22) and the rear target surface pattern layer (23) are in mirror symmetry with respect to the substrate (21), and the circle center of the light hole in the rear target surface pattern layer (23) is overlapped with the circle center of the corresponding light hole in the front target surface pattern layer (22); a reflecting layer (25) is applied behind the rear target surface pattern layer (23);
the camera stand holder component comprises a fixed base (3) and a rotating holder (2); the fixed base (3) is fixed under the lifter (7), and the rotary holder (2) is arranged on the fixed base (3);
the number of the wide-angle cameras (1) is 1, the wide-angle cameras (1) are arranged on a rotating holder (2) of a camera stand holder component, and the lenses of the wide-angle cameras (1) face upwards; the rotating holder (2) drives the shooting central axis of the lens of the wide-angle camera (1) to face 5 directions of positive middle, left inclination, right inclination, forward inclination and backward inclination;
the computer (5) is connected with the wide-angle camera (1).
2. The monocular camera 3D wheel aligner of claim 1, wherein: the lifting machine (7) is a single-column lifting machine (7), a two-column lifting machine (7) or a small-shear lifting machine (7).
3. The monocular camera 3D wheel aligner of claim 1, wherein: the target (4) is square.
4. The monocular camera 3D wheel aligner of claim 3, wherein: the target (4) has a size of 50mm × 50mm to 130mm × 130 mm.
5. The monocular camera 3D wheel aligner of claim 1, wherein: the view field lens angle of the wide-angle camera (1) is between 30 and 60 degrees.
6. The monocular camera 3D wheel aligner of claim 1, wherein: the vertical distance from the target (4) to the wide-angle camera (1) is equal to the lifting height of the lifter (7).
7. The monocular camera 3D wheel aligner of claim 1, wherein: the computer (5) is connected with the wide-angle camera (1) in a wired or wireless mode.
8. The monocular camera 3D wheel aligner of claim 1, wherein: an adhesive printing layer (24) is arranged between the rear target surface pattern layer (23) and the reflecting layer (25), and the shape of the adhesive printing layer (24) is consistent with that of the rear target surface pattern layer (23); the circle center of the light hole on the printing glue layer (24) is overlapped with the circle center of the light hole on the rear target surface pattern layer (23).
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| CN201611199295.5ACN106524952B (en) | 2016-12-22 | 2016-12-22 | 3D wheel alignment instrument of monocular camera |
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| CN201611199295.5ACN106524952B (en) | 2016-12-22 | 2016-12-22 | 3D wheel alignment instrument of monocular camera |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112255627B (en)* | 2020-09-25 | 2024-06-04 | 深圳市道通科技股份有限公司 | Positioning method, system, device and readable storage medium for ADAS calibration equipment |
| CN116809804A (en)* | 2023-07-03 | 2023-09-29 | 苏州市安派精密电子有限公司 | Automatic centering grabbing manipulator |
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| TR01 | Transfer of patent right | Effective date of registration:20230627 Address after:Room 522, Block B, Building 20, No. 1-42, Lane 83, Hongxiang North Road, Lingang New Area, China (Shanghai) Free Trade Pilot Zone, Pudong New Area, Shanghai, 200000 Patentee after:Shanghai Tuxiang Testing Technology Co.,Ltd. Address before:541004 Room 101, University Science Park, national high tech Zone, Guimo Avenue, Qixing District, Guilin City, Guangxi Zhuang Autonomous Region Patentee before:GUILIN SHIRUIDE TECHNOLOGY DEVELOPMENT CO.,LTD. |